sk1700/iros200

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "ur5e",
    "total_episodes": 50,
    "total_frames": 13003,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "camera_keys": [
        "observation.images.wrist",
        "observation.images.front"
    ],
    "features": {
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.next_pos",
                "shoulder_lift.next_pos",
                "elbow_flex.next_pos",
                "wrist_1.next_pos",
                "wrist_2.next_pos",
                "wrist_3.next_pos"
            ],
            "fps": 30
        },
        "observation.state": {
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            "shape": [
                6
            ],
            "names": [
                "shoulder_pan.pos",
                "shoulder_lift.pos",
                "elbow_flex.pos",
                "wrist_1.pos",
                "wrist_2.pos",
                "wrist_3.pos"
            ],
            "fps": 30
        },
        "observation.images.wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.front": {
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            "shape": [
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                640,
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            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "avc1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
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            "names": null,
            "fps": 30
        },
        "frame_index": {
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            "names": null,
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        },
        "episode_index": {
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            "fps": 30
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        "task_index": {
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    },
    "stats": {
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            "mean": [
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            "std": [
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            "mean": [
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            "std": [
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        },
        "timestamp": {
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            "std": [
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    },
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200
}

Citation

BibTeX:

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